CN108415050A - A kind of PPP-RTK localization methods enhancing system based on low rail constellation navigation - Google Patents

A kind of PPP-RTK localization methods enhancing system based on low rail constellation navigation Download PDF

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CN108415050A
CN108415050A CN201810564952.4A CN201810564952A CN108415050A CN 108415050 A CN108415050 A CN 108415050A CN 201810564952 A CN201810564952 A CN 201810564952A CN 108415050 A CN108415050 A CN 108415050A
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satellite
navigation
low
precise
enhancing
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CN108415050B (en
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穆旭成
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Beijing Future Navigation Technology Co Ltd
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Beijing Future Navigation Technology Co Ltd
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Priority to AU2018426707A priority patent/AU2018426707B2/en
Priority to US15/734,341 priority patent/US11733395B2/en
Priority to RU2020139108A priority patent/RU2759392C1/en
Priority to EP18921730.0A priority patent/EP3805803A4/en
Priority to JP2020568475A priority patent/JP7054270B2/en
Priority to PCT/CN2018/116294 priority patent/WO2019233039A1/en
Priority to CA3102293A priority patent/CA3102293C/en
Priority to KR1020207035109A priority patent/KR102448573B1/en
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
    • G01S19/46—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being of a radio-wave signal type
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
    • G01S19/44—Carrier phase ambiguity resolution; Floating ambiguity; LAMBDA [Least-squares AMBiguity Decorrelation Adjustment] method
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
    • G01S19/07—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing data for correcting measured positioning data, e.g. DGPS [differential GPS] or ionosphere corrections
    • G01S19/071—DGPS corrections
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
    • G01S19/07—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing data for correcting measured positioning data, e.g. DGPS [differential GPS] or ionosphere corrections
    • G01S19/073—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing data for correcting measured positioning data, e.g. DGPS [differential GPS] or ionosphere corrections involving a network of fixed stations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
    • G01S19/10—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing dedicated supplementary positioning signals
    • G01S19/11—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing dedicated supplementary positioning signals wherein the cooperating elements are pseudolites or satellite radio beacon positioning system signal repeaters
    • G01S19/115—Airborne or satellite based pseudolites or repeaters
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/23—Testing, monitoring, correcting or calibrating of receiver elements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/35—Constructional details or hardware or software details of the signal processing chain
    • G01S19/37—Hardware or software details of the signal processing chain
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/52—Determining velocity
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/421—Determining position by combining or switching between position solutions or signals derived from different satellite radio beacon positioning systems; by combining or switching between position solutions or signals derived from different modes of operation in a single system
    • G01S19/425—Determining position by combining or switching between position solutions or signals derived from different satellite radio beacon positioning systems; by combining or switching between position solutions or signals derived from different modes of operation in a single system by combining or switching between signals derived from different satellite radio beacon positioning systems

Abstract

The present invention provides a kind of PPP RTK localization methods enhancing system based on low rail constellation navigation, and this method includes：The straight hair signal that multisystem navigation satellite and low rail constellation are broadcast is received, original observed data is generated；Receive the navigation satellite enhancement information and low orbit satellite Precise Orbit and precise clock correction that low rail constellation is broadcast；Static Precise Point Positioning is carried out using navigation satellite enhancement information, low orbit satellite Precise Orbit and precise clock correction and original observed data；Or when receiving ground enhancing composition error correcting information, comprehensive utilization navigation satellite enhancement information, low orbit satellite Precise Orbit and precise clock correction, original observed data and ground enhancing composition error correcting information carry out ground and enhance Static Precise Point Positioning.The present invention can obtain the precision positioning of near real-time in the whole world, test the speed and time service result, can ground enhance region obtain real-time centimeter-level positioning, test the speed and time service as a result, simultaneously can ground enhance region and non-ground enhancing Global Regional between carry out seamless switching.

Description

A kind of PPP-RTK localization methods enhancing system based on low rail constellation navigation
Technical field
The present invention relates to Satellite Navigation Technique more particularly to a kind of satellite navigation precision positioning, test the speed and time service method.
Background technology
It is reinitialized after the initialization and interruption of navigation satellite Static Precise Point Positioning (PPP) and needs (30 points of long period It is more than clock) it is the principal element for limiting this technology and being applied in quick and real-time dynamic high precision field.In order to shorten initialization Time and raising positioning accuracy, propose and have developed integer ambiguity technique for fixing, solved in real time by global monitoring net in recent years It calculates and publication Satellite Phase decimal correction for deflection number, user is special by the integer for restoring non-poor fuzziness using correction for deflection number Property, and then carry out integer ambiguity using existing mature technology and fix.Have studies have shown that integer ambiguity fixed solution technology can The initialization time of PPP is set to foreshorten to 20 minutes or so.
In order to reduce influence of the atmosphere delay error to initialization, some scholars propose to take the PPP of atmosphere delay constraint into account The retardation generated using ionospheric model is improved as observational constraints information and resolves performance, initialization time by localization method Positioning requirements when can further foreshorten to 15 minutes, but still be difficult to meet high-precision real.It is current main in order to reduce convergence time Corresponding error at rover station is corrected in such a way that ground strengthening system broadcasts the comprehensive correcting information of non-difference, it is fuzzy to reach The quick separating for spending parameter and location parameter, can fix fuzziness parameter within several epoch, but to ground monitoring network cloth Density requirements of standing are higher, are often suitable for low dynamic subscriber.
Invention content
In order to solve the above technical problems, the present invention proposes that a kind of PPP-RTK enhancing system based on low rail constellation navigation is fixed Position method fast moves characteristic using low orbit satellite and broadcasts navigation signal, while increasing navigation satellite using multisystem and observing number Amount, it is comprehensive to improve user's observation space geometric configuration, there is ground enhancing monitoring network area, further regional complex is being utilized to miss Poor information corrects user's observation error, substantially reduces user's precision positioning initialization time, and realize base by unified model Enhance the seamless switching of PPP and the RTK service of system in low rail constellation navigation.
A kind of PPP-RTK localization methods being enhanced system based on low rail constellation navigation provided by the invention, are specifically included：
S11, the straight hair signal that multisystem navigation satellite and low rail constellation are broadcast is received, generates original observed data；
S12, navigation satellite enhancement information and low orbit satellite Precise Orbit and accurate clock that low rail constellation is broadcast are received Difference；
S13, using navigation satellite enhancement information, low orbit satellite Precise Orbit and precise clock correction and original observed data into Row Static Precise Point Positioning；Or
S13 ', when receiving ground and enhancing composition error correcting information, comprehensive utilization navigation satellite enhancement information, low rail Satellite precise orbit and precise clock correction, original observed data and ground enhancing composition error correcting information carry out ground enhancing precision One-Point Location.
Optionally, navigation satellite includes GPS of America, the Chinese Big Dipper, European Union's Galileo, Russian GLONASS satellites navigation At least one of system.
Optionally, navigation satellite enhancement information navigation satellite enhancement information includes following at least one：Navigation satellite is accurate Track and clock correction, navigation satellite phase decimal correction for deflection number, low orbit satellite phase decimal correction for deflection number, ionospheric model ginseng Number information.
Optionally, original observed data includes following at least one：Navigation satellite and low orbit satellite pseudorange observation data are led Boat satellite and low orbit satellite carrier phase observation data, navigation satellite and low orbit satellite Doppler observe data.
Optionally, the tupe of Static Precise Point Positioning includes following at least one：The fuzziness of low orbit satellite enhancing is floating Point solution pattern, the fuzziness fixed solution pattern of low orbit satellite enhancing.
Optionally, ground enhancing composition error correcting information includes following at least one：Non- difference pseudorange observation composition error, Non- difference carrier phase observes composition error.
The PPP-RTK localization methods provided by the invention for enhancing system based on low rail constellation navigation are having ground enhancing prison It surveys between network area and other global areas and can be resolved using unified Static Precise Point Positioning pattern with seamless switching. Real-time initial or even single epoch initialization, positioning accuracy Centimeter Level, in the whole world are realized there is ground enhancing monitoring network area Realize near real-time initialization, positioning accuracy to decimeter grade or even Centimeter Level in other areas.
The PPP-RTK localization methods provided by the invention for being enhanced system based on low rail constellation navigation can be obtained close in the whole world Real-time precision positioning, test the speed with time service obtains real-time centimeter-level positioning, tests the speed and time service as a result, can enhance region in ground As a result, can simultaneously enhance in ground seamless switching is carried out between region and the Global Regional of non-ground enhancing.
Description of the drawings
By reading the detailed description of hereafter preferred embodiment, various other advantages and benefit are common for this field Technical staff will become clear.Attached drawing only for the purpose of illustrating preferred embodiments, and is not considered as to the present invention Limitation.And throughout the drawings, the same reference numbers will be used to refer to the same parts.In the accompanying drawings：
Fig. 1 shows a kind of PPP-RTK localization methods enhancing system based on low rail constellation navigation of the embodiment of the present invention Method flow diagram；
Fig. 2 shows the realities of the PPP-RTK localization methods for enhancing system based on low rail constellation navigation of the embodiment of the present invention Existing principle schematic.
Fig. 3 shows the tool of the PPP-RTK positioning for enhancing system based on low rail constellation navigation of another embodiment of the present invention Body method flow chart.
【Primary clustering symbol description】
100 navigation constellations
101 Beidou navigation satellites
102 GPS navigation satellites
103 GLONASS navigation satellites
104 other navigation satellites
110 low rails enhance constellation
111 low orbit satellites
120 navigation signals, including navigation satellite and low orbit satellite navigation signal
130 whole world area
131 use the navigation device for the PPP-RTK localization methods for enhancing system based on low rail constellation navigation
140 grounds enhance region
141 grounds enhance monitoring station
142 ground enhancement informations broadcast equipment
Specific implementation mode
The exemplary embodiment of the application is more fully described below with reference to accompanying drawings.Although showing the disclosure in attached drawing Exemplary embodiment, it being understood, however, that may be realized in various forms the application without should be by embodiments set forth here It is limited.On the contrary, these embodiments are provided to facilitate a more thoroughly understanding of the present invention, and can be by scope of the present application Completely it is communicated to those skilled in the art.
Fig. 1 shows a kind of PPP-RTK localization methods enhancing system based on low rail constellation navigation of the embodiment of the present invention Method flow diagram.Referring to Fig. 1, the PPP-RTK positioning provided in an embodiment of the present invention for enhancing system based on low rail constellation navigation Method specifically includes following steps：
S11, the straight hair signal that multisystem navigation satellite and low rail constellation are broadcast is received, generates original observed data；
S12, navigation satellite enhancement information and low orbit satellite Precise Orbit and accurate clock that low rail constellation is broadcast are received Difference；
S13, using navigation satellite enhancement information, low orbit satellite Precise Orbit and precise clock correction and original observed data into Row Static Precise Point Positioning；Or
S13 ', when receiving ground and enhancing composition error correcting information, comprehensive utilization navigation satellite enhancement information, low rail Satellite precise orbit and precise clock correction, original observed data and ground enhancing composition error correcting information carry out ground enhancing precision One-Point Location.
The PPP-RTK localization methods provided in an embodiment of the present invention for enhancing system based on low rail constellation navigation, utilize low rail Satellite fast moves characteristic and broadcasts navigation signal, while increasing navigation satellite using multisystem and observing quantity, comprehensive to improve user Observation space geometric configuration can realize that near real-time initializes in the world.
Further, there is ground enhancing monitoring network area, it is close that this method effectively reduces ground enhancing monitoring network cloth station Degree corrects user's observation error, using unification by composition errors information such as ionosphere, the tropospheres of reception current region Under PPP calculation processing patterns, real-time initial can be further realized.
Fig. 2 shows the realities of the PPP-RTK localization methods for enhancing system based on low rail constellation navigation of the embodiment of the present invention Existing principle schematic.Its concrete processing procedure is as shown in figure 3, specifically include：
Step 201, the navigation straight hair signal that multisystem navigation satellite and low rail constellation are broadcast is received, straight hair signal is carried out Capture, tracking；
Step 202, in each epoch, navigation straight hair signal is measured, pseudorange, carrier phase and Doppler is generated and sees Measured data；
Step 203, under the premise of signal stabilization tracks, low orbit satellite straight hair signal text parameter is demodulated, navigation is obtained and defends Star enhancement information and low orbit satellite Precise Orbit, clock correction, wherein navigation satellite enhancement information include navigation satellite Precise Orbit, clock Difference, phase decimal deviation and Global Ionospheric model parameter；
Step 204, observational equation is established using original observed data, it is right on the basis of one of which satellite navigation system Other satellite navigation systems and low orbit satellite observation data are normalized, and obtain uniform time reference observational equation；
Step 206, if enhancing region in non-ground, navigation satellite enhancement information and low orbit satellite Precise Orbit, clock are utilized Difference is observed correction；
Step 207, if enhancing region in ground, the comprehensive correction of non-difference of groundwork detection network propagation hair is received by communication link Information；
Step 208, user's general location every navigation satellite relatively and low is calculated according to receiving the non-comprehensive correcting information of difference The Correction of Errors parameter of rail satellite；
Step 209, the mistake of navigation satellite enhancement information and low orbit satellite Precise Orbit, clock correction and above-mentioned calculating is utilized Difference correction parameter is observed data correction
Step 210, localization process is carried out using Static Precise Point Positioning pattern, obtains enhancing system based on low rail constellation navigation PPP-RTK positioning, time service and test the speed result and carrier phase ambiguity parameter etc..
By the PPP-RTK localization methods provided by the present application for enhancing system based on low rail constellation navigation, can be obtained in the whole world The precision positioning of near real-time, test the speed with time service as a result, can ground enhance region obtain real-time centimeter-level positioning, test the speed and Time service carries out seamless switching as a result, can simultaneously enhance in ground between region and the Global Regional of non-ground enhancing.
Technical solution of the present invention is described in detail below by a specific embodiment.
Global Regional based on low rail constellation navigation enhance system quick PPP processing main process be：
(1) observational equation is established using original observed data
It includes more constellation multifrequency point pseudoranges, carrier phase and more that receiver, which receives the original observed data that navigation signal generates, Pu Le observes data, and wherein pseudorange and carrier phase observational equation can indicate as follows：
In formula,
G：Indicate that satellite navigation system and low rail enhance system；
i：Indicate that signal frequency identifies, i=1,2,3；
r,S：Receiver and satellite mark are indicated respectively；
Pseudorange respectively as unit of rice and carrier phase observation data；
For the geometric distance of satellite to receiver；
dtr, dtG,S：Respectively receiver and satellite clock correction；
For tropospheric delay；
For the ionosphere delay in frequency 1；
The respectively pseudorange hardware corridor delay of receiver and satellite；
For integer ambiguity；
hi,r, δ φi,r：Respectively receiver carrier phase channel delay and initial phase deviation；
The respectively delay of satellite carrier phase path and initial phase deviation；
The residual error not modeled in pseudorange and carrier phase observation respectively.
Since carrier phase channel delay and initial phase deviation cannot be detached, usually two amounts are merged, referred to as Not calibrated hardware delay, receiver and satellite end are expressed as：
Bi,r=hi,r+δφi,r (3)
Then carrier phase observational equation can be expressed as：
(2) construction is without ionospheric combination observation
It is observed without ionospheric combination using Dual Frequency Observation data configuration, eliminating single order ionosphere delay influences, and reduces unknown Parameter, specific built-up pattern are：
Wherein,
It absorbs, enables since receiver end pseudorange hardware delay can be received machine clock correction
Then above formula becomes
When multisystem observation data aggregate processing, since receiver clock-offsets parameter absorbs pseudorange in the logical of receiver end Road postpones, and channel delay is related to signal, therefore different system is caused to correspond to different receiver clock-offsets, then low Rail satellite corresponds to observational equation with other satellite navigation systems and can be rewritten as：
Wherein,For the corresponding receiver clock-offsets of low orbit satellite,For the corresponding receiver clock-offsets of each navigation system. GLONASS uses frequency division multiple access technology, and the receiver pseudorange channel delay that different frequency satellite-signal generates is different, leads to difference The machine clock correction of being received fully absorbs, but if assign smaller weights to GLONASS Pseudo-range Observations, these channel delay differences It can be approximately considered included in residual error.Therefore, these variables are no longer embodied in observation model.
(3) the navigation satellite enhancement information and model broadcast using low orbit satellite carry out Correction of Errors
In the enhancement information that low orbit satellite is broadcast, precise satellite track product is all made of unified space coordinate and refers to base Standard, Clock Bias product use unified time reference.Therefore, coordinate basis or time base are not present in observation model Accurate skimble-scamble problem.Meanwhile Clock Bias product is generated using iono-free combination observation, including satellite end pseudorange Channel delay.
In addition, tropospheric delay can be generally divided into dry component and hygroscopic water amount two parts.Dry component can by model into Row correction, hygroscopic water amount are estimated as parameter to be estimated.In order to reduce the quantity of parameter to be estimated, it can use mapping function will be oblique Delay projects to zenith direction, only estimates a Zenith wet delay.It enables
The models such as the navigation satellite enhancement information and relativistic effect of offer, earth rotation, antenna phase center are provided Observational equation is corrected, eliminates partly unknown parameters, while ignoring remaining satellite orbit and clock correction error, low orbit satellite Corresponding to observational equation with other satellite navigation systems becomes：
Wherein,Respectively low orbit satellite mapping function corresponding with other satellite navigation systems, ZrIt is right Fluid layer Zenith wet delay.
(4) it is observed equation linearisation
Taylor expansion is carried out in receiver apparent position, gives up second order term, it is as follows to obtain linearisation observational equation：
Wherein,
(xs,ys,zs) it is low orbit satellite and navigation satellite Precise Orbit coordinate, (xr,0, yr,0, zr,0) it is receiver approximation position It sets.Then observational equation can simplify and be written as：
V=A Δs X+L (23)
Wherein V is observation residual error, and A is coefficient matrix, Δ X be include receiver coordinate correction, receiver clock-offsets, troposphere Unknown vector including Zenith wet delay, carrier phase ambiguity, L are to calculate vector.
(5) parameter Estimation and fuzziness fixing process are carried out
Comprehensive PPP processing is carried out using Kalman filter.In filtering, it is desirable to provide suitable observation stochastic model with And state vector dynamic model.Stochastic model describes the statistical property of observation, usually uses the variance and covariance of observation Matrix representation.From observational equation it is found that iono-free combination observation is the linear combination of raw observation, it is assumed that on different frequency Observation it is uncorrelated, the initial variance of iono-free combination observation can be calculated by law of propagation of errors.Specifically Variance can be defined as the function of initial variance and elevation of satellite.Assuming that the observation of different satellites, different system not phase It closes and different types of observation, i.e. pseudorange and carrier phase observable is uncorrelated, so that it may to obtain the variance and covariance of observation Battle array.
For the dynamic model of state vector, stationary receivers coordinate can be expressed as constant, dynamic receiver coordinate and Receiver clock-offsets, which can be expressed as random walk or single order Gauss markoff process, tropospheric zenith wet stack emission, to be indicated For random walk process, carrier phase ambiguity parameter can be expressed as constant, then obtain state equation.
Xk=Φ (tk,tk-1)Xk-1+wk-1 (24)
In formula, X is that parameters, the Φ such as receiver coordinate correction to be estimated, receiver clock-offsets are state-transition matrix, wk-1 Noise is shifted for state.INTEGRATED SIGHT equation and state equation can apply standard Kalman filter process to carry out parameter Estimation.This In due to not carrying out Satellite Phase decimal correction for deflection, so only obtain carrier phase ambiguity float-solution result.If further It is observed equation using the Satellite Phase decimal correction for deflection for including in low orbit satellite enhancement information to correct, then can restore fuzzy The integer characteristic of degree realizes that fuzziness is fixed, and obtains carrier phase ambiguity fixed solution as a result, when further shortening initialization Between, it improves positioning, test the speed and time service precision.
Data are observed due to increasing low rail constellation navigation straight hair signal, low orbit satellite fast moves characteristic significant increase User observes geometry, to make PPP initialization times be greatly reduced.
Ground enhances region：
Enhance region in ground, will be utilized Delaunay methods all referring to station is divided into several triangle subnets, and presses Build the composition error correcting information of every satellites in view to each subnet respectively according to the network RTK methods based on non-poor correction, Including the ionosphere of every satellite direction, troposphere and with the relevant channel delay of satellite, satellite clock correction, satellite rail Road error, is embodied as：
Pseudorange and carrier phase composition error correcting information are indicated respectively.
Receiver carries out plane according to general location to the composition error correcting information at periphery at least three ground enhancing station to be intended Build mould, and the pseudorange and carrier phase observation data of the local Correction of Errors Information refinement user obtained using interpolation jointly.By changing Low orbit satellite corresponds to observational equation with other satellite navigation systems after just to be written as：
Known variables include receiver location coordinate, receiver clock-offsets, receiver channel delay and carrier wave in equation at this time Phase ambiguity parameter, using between star it is single it is poor can further cancellation receiver clock correction and channel delay, then using being situated between above The linearization process strategy and method for parameter estimation to continue carries out receiver location estimation and carrier phase ambiguity is fixed.
Data are observed due to increasing low rail constellation navigation straight hair signal, low orbit satellite fast moves characteristic significant increase User observes geometry, and to make under identical initialization time and positioning accuracy request, ground enhances monitoring network cloth Density of standing can be greatly reduced, and reduce monitoring network construction cost.
Global Regional and the low rail constellation enhancing of ground enhancing region quickly test the speed, time service calculation processes and localization process Process is similar, and details are not described herein.
The PPP-RTK localization methods provided in an embodiment of the present invention for enhancing system based on low rail constellation navigation, pass through low rail Satellite broadcasts navigation straight hair signal, and fast moving characteristic synthesis using low orbit satellite improves user's observation space geometric configuration, uses Family PPP initialization times can foreshorten to quasi real time；Enhance region in ground, by the composition error for further receiving current region Information corrects user's observation error, and using the calculation processing pattern unified with PPP, initialization time further foreshortens in real time. This method can effectively reduce ground enhancing monitoring network cloth station density, and realize that low rail constellation enhances multisystem by unified model The seamless switching of PPP and RTK services.
Through the above description of the embodiments, those skilled in the art can be understood that each embodiment can It is realized by the mode of software plus required general hardware platform, naturally it is also possible to pass through hardware.Based on this understanding, on Stating technical solution, substantially the part that contributes to existing technology can be expressed in the form of software products in other words, should Computer software product can store in a computer-readable storage medium, such as ROM/RAM, magnetic disc, CD, including several fingers It enables and using so that a computer equipment (can be personal computer, server or the network equipment etc.) executes each implementation Method described in certain parts of example or embodiment.
In addition, it will be appreciated by those of skill in the art that although some embodiments in this include institute in other embodiments Including certain features rather than other feature, but the combination of the feature of different embodiment means to be in the scope of the present invention Within and form different embodiments.For example, in the following claims, embodiment claimed it is arbitrary it One mode can use in any combination.
Finally it should be noted that：The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although Present invention has been described in detail with reference to the aforementioned embodiments, it will be understood by those of ordinary skill in the art that：It still may be used With technical scheme described in the above embodiments is modified or equivalent replacement of some of the technical features； And these modifications or replacements, various embodiments of the present invention technical solution that it does not separate the essence of the corresponding technical solution spirit and Range.

Claims (6)

1. a kind of PPP-RTK localization methods being enhanced system based on low rail constellation navigation, are technically characterized in that, the method packet It includes：
S11, the straight hair signal that multisystem navigation satellite and low rail constellation are broadcast is received, generates original observed data；
S12, navigation satellite enhancement information and low orbit satellite Precise Orbit and precise clock correction that low rail constellation is broadcast are received；
S13, essence is carried out using navigation satellite enhancement information, low orbit satellite Precise Orbit and precise clock correction and original observed data Close One-Point Location；Or
S13 ', when receiving ground and enhancing composition error correcting information, comprehensive utilization navigation satellite enhancement information, low orbit satellite Precise Orbit and precise clock correction, original observed data and ground enhancing composition error correcting information carry out ground and enhance accurate one-point Positioning.
2. enhancing the PPP-RTK localization methods of system, wherein navigation satellite based on low rail constellation navigation as described in claim 1 Include at least one of GPS of America, the Chinese Big Dipper, European Union's Galileo, Russian GLONASS satellites navigation system.
3. enhancing the PPP-RTK localization methods of system, wherein navigation satellite based on low rail constellation navigation as described in claim 1 Enhancement information navigation satellite enhancement information includes following at least one：Navigation satellite Precise Orbit and clock correction, navigation satellite phase Decimal correction for deflection number, low orbit satellite phase decimal correction for deflection number, ionosphere model parameters information.
4. enhancing the PPP-RTK localization methods of system based on low rail constellation navigation as described in claim 1, wherein original observation Data include following at least one：Navigation satellite and low orbit satellite pseudorange observation data, navigation satellite and low orbit satellite carrier wave phase Position observation data, navigation satellite and low orbit satellite Doppler observe data.
5. enhancing the PPP-RTK localization methods of system, wherein accurate one-point based on low rail constellation navigation as described in claim 1 The tupe of positioning includes following at least one：The fuzziness float-solution pattern of low orbit satellite enhancing, low orbit satellite enhance Fuzziness fixed solution pattern.
6. enhancing the PPP-RTK localization methods of system based on low rail constellation navigation as described in claim 1, wherein ground enhances Composition error correcting information includes following at least one：Non- difference pseudorange observation composition error, the non-poor comprehensive mistake of carrier phase observation Difference.
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EP18921730.0A EP3805803A4 (en) 2018-06-04 2018-11-20 Precise point position and real-time kinematic (ppp-rtk) positioning method and device
US15/734,341 US11733395B2 (en) 2018-06-04 2018-11-20 Precise point position and real-time kinematic (PPP-RTK) positioning method and device
RU2020139108A RU2759392C1 (en) 2018-06-04 2018-11-20 Positioning method and device for precise point positioning/real-time kinematics (ppp-rtk)
AU2018426707A AU2018426707B2 (en) 2018-06-04 2018-11-20 Precise point position and real-time kinematic (PPP-RTK) positioning method and device
JP2020568475A JP7054270B2 (en) 2018-06-04 2018-11-20 Positioning method and equipment that combines precision independent positioning and real-time kinematics (PPP-RTK)
PCT/CN2018/116294 WO2019233039A1 (en) 2018-06-04 2018-11-20 Precise point position and real-time kinematic (ppp-rtk) positioning method and device
CA3102293A CA3102293C (en) 2018-06-04 2018-11-20 Positioning method and device of precise point positioning-real time kinematic (ppp-rtk)
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